ParametersToolBox.cpp
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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15 
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17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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27 
28 //
29 // Original version from Find-Object: https://github.com/introlab/find-object
30 //
31 
32 #include <rtabmap/core/Parameters.h>
33 #include <rtabmap/core/Optimizer.h>
34 
35 #include "rtabmap/gui/ParametersToolBox.h"
36 #include <QComboBox>
37 #include <QDoubleSpinBox>
38 #include <QLineEdit>
39 #include <QStackedWidget>
40 #include <QScrollArea>
41 #include <QLabel>
42 #include <QGroupBox>
43 #include <QCheckBox>
44 #include <QVBoxLayout>
45 #include <QMessageBox>
46 #include <QPushButton>
47 #include <stdio.h>
48 #include <rtabmap/utilite/ULogger.h>
49 #include <rtabmap/utilite/UConversion.h>
50 #include <rtabmap/utilite/UStl.h>
51 #include <opencv2/opencv_modules.hpp>
52 
53 namespace rtabmap {
54 
55 ParametersToolBox::ParametersToolBox(QWidget *parent) :
56  QWidget(parent),
57  comboBox_(new QComboBox(this)),
58  stackedWidget_(new QStackedWidget(this))
59 {
60  QVBoxLayout * layout = new QVBoxLayout(this);
61  this->setLayout(layout);
62 
63  layout->addWidget(comboBox_);
64  layout->addWidget(stackedWidget_, 1);
65  QPushButton * resetButton = new QPushButton(this);
66  resetButton->setText(tr("Restore Defaults"));
67  layout->addWidget(resetButton);
68  connect(resetButton, SIGNAL(clicked()), this, SLOT(resetCurrentPage()));
69 }
70 
71 ParametersToolBox::~ParametersToolBox()
72 {
73 }
74 
75 QWidget * ParametersToolBox::getParameterWidget(const QString & key)
76 {
77  return this->findChild<QWidget*>(key);
78 }
79 
80 QStringList ParametersToolBox::resetPage(int index)
81 {
82  QStringList paramChanged;
83  const QObjectList & children = stackedWidget_->widget(index)->children().first()->children().first()->children();
84  for(int j=0; j<children.size();++j)
85  {
86  QString key = children.at(j)->objectName();
87  // ignore working memory
88  QString group = key.split("/").first();
89  if(parameters_.find(key.toStdString())!=parameters_.end())
90  {
91  UASSERT_MSG(parameters_.find(key.toStdString()) != parameters_.end(), uFormat("key=%s", key.toStdString().c_str()).c_str());
92  std::string value = Parameters::getDefaultParameters().at(key.toStdString());
93  parameters_.at(key.toStdString()) = value;
94 
95  if(qobject_cast<QComboBox*>(children.at(j)))
96  {
97  if(((QComboBox*)children.at(j))->currentIndex() != QString::fromStdString(value).split(':').first().toInt())
98  {
99  ((QComboBox*)children.at(j))->setCurrentIndex(QString::fromStdString(value).split(':').first().toInt());
100  paramChanged.append(key);
101  }
102  }
103  else if(qobject_cast<QSpinBox*>(children.at(j)))
104  {
105  if(((QSpinBox*)children.at(j))->value() != uStr2Int(value))
106  {
107  ((QSpinBox*)children.at(j))->setValue(uStr2Int(value));
108  paramChanged.append(key);
109  }
110  }
111  else if(qobject_cast<QDoubleSpinBox*>(children.at(j)))
112  {
113  if(((QDoubleSpinBox*)children.at(j))->value() != uStr2Double(value))
114  {
115  ((QDoubleSpinBox*)children.at(j))->setValue(uStr2Double(value));
116  paramChanged.append(key);
117  }
118  }
119  else if(qobject_cast<QCheckBox*>(children.at(j)))
120  {
121  if(((QCheckBox*)children.at(j))->isChecked() != uStr2Bool(value))
122  {
123  ((QCheckBox*)children.at(j))->setChecked(uStr2Bool(value));
124  paramChanged.append(key);
125  }
126  }
127  else if(qobject_cast<QLineEdit*>(children.at(j)))
128  {
129  if(((QLineEdit*)children.at(j))->text().compare(QString::fromStdString(value)) != 0)
130  {
131  ((QLineEdit*)children.at(j))->setText(QString::fromStdString(value));
132  paramChanged.append(key);
133  }
134  }
135  }
136  }
137  return paramChanged;
138 }
139 
140 void ParametersToolBox::resetCurrentPage()
141 {
142  this->blockSignals(true);
143  QStringList paramChanged = this->resetPage(stackedWidget_->currentIndex());
144  this->blockSignals(false);
145  Q_EMIT parametersChanged(paramChanged);
146 }
147 
148 void ParametersToolBox::resetAllPages()
149 {
150  QStringList paramChanged;
151  this->blockSignals(true);
152  for(int i=0; i< stackedWidget_->count(); ++i)
153  {
154  paramChanged.append(this->resetPage(i));
155  }
156  this->blockSignals(false);
157  Q_EMIT parametersChanged(paramChanged);
158 }
159 
160 void ParametersToolBox::updateParametersVisibility()
161 {
162  //show/hide not used parameters
163  /*QComboBox * descriptorBox = this->findChild<QComboBox*>(Parameters::kFeature2D_2Descriptor());
164  QComboBox * detectorBox = this->findChild<QComboBox*>(Parameters::kFeature2D_1Detector());
165  if(descriptorBox && detectorBox)
166  {
167  QString group = Parameters::kFeature2D_2Descriptor().split('/').first();
168  QWidget * panel = 0;
169  for(int i=0; i<this->count(); ++i)
170  {
171  if(this->widget(i)->objectName().compare(group) == 0)
172  {
173  panel = this->widget(i);
174  break;
175  }
176  }
177  if(panel)
178  {
179  const QObjectList & objects = panel->children();
180  QString descriptorName = descriptorBox->currentText();
181  QString detectorName = detectorBox->currentText();
182 
183  for(int i=0; i<objects.size(); ++i)
184  {
185  if(!objects[i]->objectName().isEmpty())
186  {
187  if(objects[i]->objectName().contains(descriptorName) || objects[i]->objectName().contains(detectorName))
188  {
189  ((QWidget*)objects[i])->setVisible(true);
190  }
191  else if(objects[i]->objectName().contains("Fast") && detectorName == QString("ORB"))
192  {
193  ((QWidget*)objects[i])->setVisible(true); // ORB uses some FAST parameters
194  }
195  else if(!objects[i]->objectName().split('/').at(1).at(0).isDigit())
196  {
197  ((QWidget*)objects[i])->setVisible(false);
198  }
199  }
200  }
201  }
202  }*/
203 }
204 
205 void ParametersToolBox::setupUi(const ParametersMap & parameters)
206 {
207  parameters_ = parameters;
208  QWidget * currentItem = 0;
209  QStringList groups;
210  for(ParametersMap::const_iterator iter=parameters.begin();
211  iter!=parameters.end();
212  ++iter)
213  {
214  QStringList splitted = QString::fromStdString(iter->first).split('/');
215  QString group = splitted.first();
216 
217  QString name = splitted.last();
218  if(currentItem == 0 || currentItem->objectName().compare(group) != 0)
219  {
220  groups.push_back(group);
221  QScrollArea * area = new QScrollArea(this);
222  stackedWidget_->addWidget(area);
223  currentItem = new QWidget();
224  currentItem->setObjectName(group);
225  QVBoxLayout * layout = new QVBoxLayout(currentItem);
226  layout->setSizeConstraint(QLayout::SetMinimumSize);
227  layout->setContentsMargins(0,0,0,0);
228  layout->setSpacing(0);
229  area->setWidget(currentItem);
230 
231  addParameter(layout, iter->first, iter->second);
232  }
233  else
234  {
235  addParameter((QVBoxLayout*)currentItem->layout(), iter->first, iter->second);
236  }
237  }
238  comboBox_->addItems(groups);
239  connect(comboBox_, SIGNAL(currentIndexChanged(int)), stackedWidget_, SLOT(setCurrentIndex(int)));
240 
241  updateParametersVisibility();
242 }
243 
244 void ParametersToolBox::updateParameter(const std::string & key, const std::string & value)
245 {
246  QString group = QString::fromStdString(key).split("/").first();
247  if(parameters_.find(key) != parameters_.end())
248  {
249  parameters_.at(key) = value;
250  QWidget * widget = this->findChild<QWidget*>(key.c_str());
251  QString type = QString::fromStdString(Parameters::getType(key));
252  if(type.compare("string") == 0)
253  {
254  QString valueQt = QString::fromStdString(value);
255  if(valueQt.contains(';'))
256  {
257  // It's a list, just change the index
258  QStringList splitted = valueQt.split(':');
259  ((QComboBox*)widget)->setCurrentIndex(splitted.first().toInt());
260  }
261  else
262  {
263  ((QLineEdit*)widget)->setText(valueQt);
264  }
265  }
266  else if(type.compare("int") == 0)
267  {
268  ((QSpinBox*)widget)->setValue(uStr2Int(value));
269  }
270  else if(type.compare("uint") == 0)
271  {
272  ((QSpinBox*)widget)->setValue(uStr2Int(value));
273  }
274  else if(type.compare("double") == 0)
275  {
276  ((QDoubleSpinBox*)widget)->setValue(uStr2Double(value));
277  }
278  else if(type.compare("float") == 0)
279  {
280  ((QDoubleSpinBox*)widget)->setValue(uStr2Float(value));
281  }
282  else if(type.compare("bool") == 0)
283  {
284  ((QCheckBox*)widget)->setChecked(uStr2Bool(value));
285  }
286  }
287 }
288 
289 void ParametersToolBox::addParameter(
290  QVBoxLayout * layout,
291  const std::string & key,
292  const std::string & value)
293 {
294  std::string type = Parameters::getType(key);
295  if(type.compare("string") == 0)
296  {
297  addParameter(layout, key.c_str(), QString::fromStdString(value));
298  }
299  else if(type.compare("int") == 0 ||
300  type.compare("uint") == 0 ||
301  type.compare("unsigned int") == 0)
302  {
303  addParameter(layout, key.c_str(), uStr2Int(value));
304  }
305  else if(type.compare("double") == 0 ||
306  type.compare("float") == 0)
307  {
308  addParameter(layout, key.c_str(), uStr2Double(value));
309  }
310  else if(type.compare("bool") == 0)
311  {
312  addParameter(layout, key.c_str(), uStr2Bool(value));
313  }
314  else
315  {
316  UWARN("Not implemented type \"%s\" for parameter \"%s\". Parameter is not added to toolbox.", type.c_str(), key.c_str());
317  }
318 }
319 
320 void ParametersToolBox::addParameter(QVBoxLayout * layout,
321  const QString & key,
322  const QString & value)
323 {
324  if(value.contains(';'))
325  {
326  QComboBox * widget = new QComboBox(this);
327  widget->setObjectName(key);
328  QStringList splitted = value.split(':');
329  widget->addItems(splitted.last().split(';'));
330 
331  widget->setCurrentIndex(splitted.first().toInt());
332  connect(widget, SIGNAL(currentIndexChanged(int)), this, SLOT(changeParameter(int)));
333  addParameter(layout, key, widget);
334  }
335  else
336  {
337  QLineEdit * widget = new QLineEdit(value, this);
338  widget->setObjectName(key);
339  connect(widget, SIGNAL(editingFinished()), this, SLOT(changeParameter()));
340  addParameter(layout, key, widget);
341  }
342 }
343 
344 void ParametersToolBox::addParameter(QVBoxLayout * layout,
345  const QString & key,
346  const double & value)
347 {
348  QDoubleSpinBox * widget = new QDoubleSpinBox(this);
349  int decimals = 0;
350  int decimalValue = 0;
351 
352  QString str = Parameters::getDefaultParameters().at(key.toStdString()).c_str();
353  if(!str.isEmpty())
354  {
355  str.replace(',', '.');
356  QStringList items = str.split('.');
357  if(items.size() == 2)
358  {
359  decimals = items.back().length();
360  decimalValue = items.back().toInt();
361  }
362  }
363 
364  double def = uStr2Double(Parameters::getDefaultParameters().at(key.toStdString()));
365  if(def<0.001 || (decimals >= 4 && decimalValue>0))
366  {
367  widget->setDecimals(5);
368  widget->setSingleStep(0.0001);
369  }
370  else if(def<0.01 || (decimals >= 3 && decimalValue>0))
371  {
372  widget->setDecimals(4);
373  widget->setSingleStep(0.001);
374  }
375  else if(def<0.1 || (decimals >= 2 && decimalValue>0))
376  {
377  widget->setDecimals(3);
378  widget->setSingleStep(0.01);
379  }
380  else if(def<1.0 || (decimals >= 1 && decimalValue>0))
381  {
382  widget->setDecimals(2);
383  widget->setSingleStep(0.1);
384  }
385  else
386  {
387  widget->setDecimals(1);
388  }
389 
390 
391  if(def>0.0)
392  {
393  widget->setMaximum(def*1000000.0);
394  }
395  else if(def==0.0)
396  {
397  widget->setMaximum(1000000.0);
398  }
399  else if(def<0.0)
400  {
401  widget->setMinimum(def*1000000.0);
402  widget->setMaximum(0.0);
403  }
404 
405  // set minimum for selected parameters
406  if(key.compare(Parameters::kGridMinGroundHeight().c_str()) == 0 ||
407  key.compare(Parameters::kGridMaxGroundHeight().c_str()) == 0 ||
408  key.compare(Parameters::kGridMaxObstacleHeight().c_str()) == 0)
409  {
410  widget->setMinimum(-1000000.0);
411  }
412 
413  widget->setValue(value);
414  widget->setObjectName(key);
415  connect(widget, SIGNAL(editingFinished()), this, SLOT(changeParameter()));
416  addParameter(layout, key, widget);
417 }
418 
419 void ParametersToolBox::addParameter(QVBoxLayout * layout,
420  const QString & key,
421  const int & value)
422 {
423  QSpinBox * widget = new QSpinBox(this);
424  int def = uStr2Int(Parameters::getDefaultParameters().at(key.toStdString()));
425 
426  if(def>0)
427  {
428  widget->setMaximum(def*1000000);
429  }
430  else if(def == 0)
431  {
432  widget->setMaximum(1000000);
433  }
434  else if(def<0)
435  {
436  widget->setMinimum(def*1000000);
437  widget->setMaximum(0);
438  }
439  widget->setValue(value);
440  widget->setObjectName(key);
441 
442  if(key.compare(Parameters::kVisFeatureType().c_str()) == 0)
443  {
444 #ifndef RTABMAP_NONFREE
445  if(value <= 1)
446  {
447  UWARN("SURF/SIFT not available, setting feature default to FAST/BRIEF.");
448  widget->setValue(4);
449  }
450 #endif
451  }
452  if(key.compare(Parameters::kOptimizerStrategy().c_str()) == 0)
453  {
454  if(value == 0 && !Optimizer::isAvailable(Optimizer::kTypeTORO))
455  {
456  if(Optimizer::isAvailable(Optimizer::kTypeGTSAM))
457  {
458  UWARN("TORO is not available, setting optimization default to GTSAM.");
459  widget->setValue(2);
460  }
461  else if(Optimizer::isAvailable(Optimizer::kTypeG2O))
462  {
463  UWARN("TORO is not available, setting optimization default to g2o.");
464  widget->setValue(1);
465  }
466  }
467  if(value == 1 && !Optimizer::isAvailable(Optimizer::kTypeG2O))
468  {
469  if(Optimizer::isAvailable(Optimizer::kTypeGTSAM))
470  {
471  UWARN("g2o is not available, setting optimization default to GTSAM.");
472  widget->setValue(2);
473  }
474  else if(Optimizer::isAvailable(Optimizer::kTypeTORO))
475  {
476  UWARN("g2o is not available, setting optimization default to TORO.");
477  widget->setValue(0);
478  }
479  }
480  if(value == 2 && !Optimizer::isAvailable(Optimizer::kTypeGTSAM))
481  {
482  if(Optimizer::isAvailable(Optimizer::kTypeG2O))
483  {
484  UWARN("GTSAM is not available, setting optimization default to g2o.");
485  widget->setValue(2);
486  }
487  else if(Optimizer::isAvailable(Optimizer::kTypeTORO))
488  {
489  UWARN("GTSAM is not available, setting optimization default to TORO.");
490  widget->setValue(1);
491  }
492  }
493  if(!Optimizer::isAvailable(Optimizer::kTypeG2O) &&
494  !Optimizer::isAvailable(Optimizer::kTypeGTSAM) &&
495  !Optimizer::isAvailable(Optimizer::kTypeTORO))
496  {
497  widget->setEnabled(false);
498  }
499  }
500 
501  connect(widget, SIGNAL(editingFinished()), this, SLOT(changeParameter()));
502  addParameter(layout, key, widget);
503 }
504 
505 void ParametersToolBox::addParameter(QVBoxLayout * layout,
506  const QString & key,
507  const bool & value)
508 {
509  QCheckBox * widget = new QCheckBox(this);
510  widget->setChecked(value);
511  widget->setObjectName(key);
512  connect(widget, SIGNAL(stateChanged(int)), this, SLOT(changeParameter(int)));
513  addParameter(layout, key, widget);
514 }
515 
516 void ParametersToolBox::addParameter(QVBoxLayout * layout, const QString & key, QWidget * widget)
517 {
518  QHBoxLayout * hLayout = new QHBoxLayout();
519  layout->insertLayout(layout->count()-1, hLayout);
520  QString tmp = key.split('/').last();
521  QLabel * label = new QLabel(tmp, this);
522  label->setObjectName(key+"/label");
523  label->setToolTip(QString("<FONT>%1 [default=%2]</FONT>")
524  .arg(Parameters::getDescription(key.toStdString()).c_str())
525  .arg(uValue(Parameters::getDefaultParameters(), key.toStdString(), std::string("?")).c_str()));
526  label->setTextInteractionFlags(Qt::TextSelectableByMouse);
527  hLayout->addWidget(label);
528  hLayout->addWidget(widget);
529 }
530 
531 void ParametersToolBox::changeParameter(const QString & value)
532 {
533  if(sender())
534  {
535  parameters_.at(sender()->objectName().toStdString()) = value.toStdString();
536  QStringList paramChanged;
537  paramChanged.append(sender()->objectName());
538  Q_EMIT parametersChanged(paramChanged);
539  }
540 }
541 void ParametersToolBox::changeParameter()
542 {
543  if(sender())
544  {
545  QDoubleSpinBox * doubleSpinBox = qobject_cast<QDoubleSpinBox*>(sender());
546  QSpinBox * spinBox = qobject_cast<QSpinBox*>(sender());
547  QLineEdit * lineEdit = qobject_cast<QLineEdit*>(sender());
548  if(doubleSpinBox)
549  {
550  parameters_.at(sender()->objectName().toStdString()) = uNumber2Str(doubleSpinBox->value());
551  }
552  else if(spinBox)
553  {
554  parameters_.at(sender()->objectName().toStdString()) = uNumber2Str(spinBox->value());
555  }
556  else if(lineEdit)
557  {
558  parameters_.at(sender()->objectName().toStdString()) = lineEdit->text().toStdString();
559  }
560  QStringList paramChanged;
561  paramChanged.append(sender()->objectName());
562  Q_EMIT parametersChanged(paramChanged);
563  }
564 }
565 
566 void ParametersToolBox::changeParameter(const int & value)
567 {
568  if(sender())
569  {
570  QStringList paramChanged;
571  QComboBox * comboBox = qobject_cast<QComboBox*>(sender());
572  QCheckBox * checkBox = qobject_cast<QCheckBox*>(sender());
573  if(comboBox)
574  {
575  QStringList items;
576  for(int i=0; i<comboBox->count(); ++i)
577  {
578  items.append(comboBox->itemText(i));
579  }
580  QString merged = QString::number(value) + QString(":") + items.join(";");
581  parameters_.at(sender()->objectName().toStdString()) = merged.toStdString();
582 
583  this->updateParametersVisibility();
584  }
585  else if(checkBox)
586  {
587  parameters_.at(sender()->objectName().toStdString()) = uBool2Str(value==Qt::Checked?true:false);
588  }
589 
590  paramChanged.append(sender()->objectName());
591  Q_EMIT parametersChanged(paramChanged);
592  }
593 }
594 
595 } // namespace find_object
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static bool isAvailable(Optimizer::Type type)
Definition: Optimizer.cpp:47
rtabmap::ParametersToolBox::resetCurrentPage
void resetCurrentPage()
Definition: ParametersToolBox.cpp:140
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void updateParameter(const std::string &key, const std::string &value)
Definition: ParametersToolBox.cpp:244
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constexpr arg(const char *name=nullptr)
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@ kTypeGTSAM
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Definition: ParametersToolBox.cpp:205
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Definition: ParametersToolBox.cpp:80
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Definition: Parameters.h:43
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Definition: Parameters.h:896
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std::string UTILITE_EXPORT uNumber2Str(unsigned int number)
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Definition: ParametersToolBox.h:85
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void parametersChanged(const QStringList &name)
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V uValue(const std::map< K, V > &m, const K &key, const V &defaultValue=V())
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virtual ~ParametersToolBox()
Definition: ParametersToolBox.cpp:71
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Definition: ParametersToolBox.cpp:148
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#define UASSERT_MSG(condition, msg_str)
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const gtsam::Symbol key( 'X', 0)
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#define UWARN(...)
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std::string UTILITE_EXPORT uFormat(const char *fmt,...)
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ULogger.h
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int UTILITE_EXPORT uStr2Int(const std::string &str)
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void addParameter(QVBoxLayout *layout, const std::string &key, const std::string &value)
Definition: ParametersToolBox.cpp:289
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ParametersToolBox.h
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Definition: ParametersToolBox.h:83
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rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:14